8. Controlling a servo

This section explains how to control a hobby RC servo from an Arduino Uno, Arduino Leonardo, or A-Star 32U4 Prime that is connected to the Zumo Shield. The Arduino IDE includes a Servo library that generates the pulses needed to control an RC servo. However, this servo library conflicts with ZumoMotors in that both rely on Timer 1. Instead, you will need to do something special to get servo control working.

To control a servo with an Arduino Uno, see Section 8.a. To control a servo with an Arduino Leonardo or A-Star 32U4 Prime, see Section 8.b.